Robust tracking control for wheeled mobile robot based on extended state observer. (2nd January 2016)

• Record Type: Journal Article
• Authors: Yang, Hongjiu; Fan, Xiaozhao; Xia, Yuanqing; Hua, Changchun
• Is Part Of: Advanced robotics. Volume 30:Number 1(2016)
• Page Start: 68
• Page End: 78
• Publication Date: 2016-01-02
• Subjects: Wheeled mobile robot -- nonholonomic constraints -- extended state observer -- stability analysis; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2015.1085900
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : This paper presents a new control scheme on trajectory tracking of wheeled mobile robot with nonholonomic constraints. Extended state observer is introduced to estimate unknown disturbances and velocity information. A robust tracking controller is designed to implement the accurate trajectory tracking and disturbance compensation. By theoretical, position and velocity tracking errors of wheeled mobile robot are proven uniformly ultimately asymptotically stable. Simulation results are given to illustrate the effectiveness of the developed technique. Graphical Abstract: